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<div class="title">cvfh.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_CVFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_CVFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/vfh.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::VFHSignature308&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html">   64</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_c_v_f_h_estimation.html">CVFHEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;CVFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const CVFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointNormal&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html">pcl::VFHEstimation&lt;PointInT, PointNT, pcl::VFHSignature308&gt;</a> <a class="code" href="classpcl_1_1_v_f_h_estimation.html">VFHEstimator</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#ad0b9db574d2322790e78ca65ba616d9f">   83</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#ad0b9db574d2322790e78ca65ba616d9f">CVFHEstimation</a> () :</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a6c512b257d893db239e3db8d0816050b">vpx_</a> (0), vpy_ (0), vpz_ (0), </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#acc124b844cb4933f2d4463618513c524">leaf_size_</a> (0.005f), </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#afe6556b3b82cd9ab1045f045a91ee1ad">normalize_bins_</a> (false),</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a425b9c4635aed9c81ea3f2587e86bea5">curv_threshold_</a> (0.03f), </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a984c6cc370561bd0283ba9ad73410e08">cluster_tolerance_</a> (<a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#acc124b844cb4933f2d4463618513c524">leaf_size_</a> * 3), </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a362d434cc7f5292a9c7e8e10e687b516">eps_angle_threshold_</a> (0.125f), </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a4ba50da77c88610d6568bb8114ec2db3">min_points_</a> (50),</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#abca1302b2e2ec55bc7618decfad39a02">radius_normals_</a> (<a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#acc124b844cb4933f2d4463618513c524">leaf_size_</a> * 3),</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a00fd32a2e6c4d8e292524b48c0cfea84">centroids_dominant_orientations_</a> (),</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a5128a5872d0f14bee983a0a34af1e39d">dominant_normals_</a> ()</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = 0;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a> = 1;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;CVFHEstimation&quot;</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      ;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#adcb190964bcb8ee94db3bae2e9ed79a4">filterNormalsWithHighCurvature</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp; cloud, std::vector&lt;int&gt; &amp; indices_to_use, std::vector&lt;int&gt; &amp;indices_out,</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                                      std::vector&lt;int&gt; &amp;indices_in, <span class="keywordtype">float</span> threshold);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a8c3f91511cdb0adc804cef5951818cfb">  118</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a8c3f91511cdb0adc804cef5951818cfb">setViewPoint</a> (<span class="keywordtype">float</span> vpx, <span class="keywordtype">float</span> vpy, <span class="keywordtype">float</span> vpz)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a6c512b257d893db239e3db8d0816050b">vpx_</a> = vpx;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        vpy_ = vpy;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        vpz_ = vpz;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a817d51fb519d869452f5be86aeba7231">  129</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a817d51fb519d869452f5be86aeba7231">setRadiusNormals</a> (<span class="keywordtype">float</span> radius_normals)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#abca1302b2e2ec55bc7618decfad39a02">radius_normals_</a> = radius_normals;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#ace0c386de1014734937e4e1e111cf6e6">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#ace0c386de1014734937e4e1e111cf6e6">getViewPoint</a> (<span class="keywordtype">float</span> &amp;vpx, <span class="keywordtype">float</span> &amp;vpy, <span class="keywordtype">float</span> &amp;vpz)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        vpx = <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a6c512b257d893db239e3db8d0816050b">vpx_</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        vpy = vpy_;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        vpz = vpz_;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#aaadbb7d910ad8d7a8348b50946db1d05">  151</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#aaadbb7d910ad8d7a8348b50946db1d05">getCentroidClusters</a> (std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp; centroids)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a00fd32a2e6c4d8e292524b48c0cfea84">centroids_dominant_orientations_</a>.size (); ++i)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          centroids.push_back (<a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a00fd32a2e6c4d8e292524b48c0cfea84">centroids_dominant_orientations_</a>[i]);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a6e63cce1a86f1a3384c32c830022280f">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a6e63cce1a86f1a3384c32c830022280f">getCentroidNormalClusters</a> (std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp; centroids)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a5128a5872d0f14bee983a0a34af1e39d">dominant_normals_</a>.size (); ++i)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          centroids.push_back (<a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a5128a5872d0f14bee983a0a34af1e39d">dominant_normals_</a>[i]);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#ac3af76d5e945d82d80336655dfce4f3e">  172</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#ac3af76d5e945d82d80336655dfce4f3e">setClusterTolerance</a> (<span class="keywordtype">float</span> d)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a984c6cc370561bd0283ba9ad73410e08">cluster_tolerance_</a> = d;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a05d6d3755a79736c32ba79ae3fff1dd5">  181</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a05d6d3755a79736c32ba79ae3fff1dd5">setEPSAngleThreshold</a> (<span class="keywordtype">float</span> d)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a362d434cc7f5292a9c7e8e10e687b516">eps_angle_threshold_</a> = d;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a7abe8d84706f1689a54329118c87a727">  190</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a7abe8d84706f1689a54329118c87a727">setCurvatureThreshold</a> (<span class="keywordtype">float</span> d)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a425b9c4635aed9c81ea3f2587e86bea5">curv_threshold_</a> = d;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a333f5bd9296d4c1243d010176c02b347">  199</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a333f5bd9296d4c1243d010176c02b347">setMinPoints</a> (<span class="keywordtype">size_t</span> min)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a4ba50da77c88610d6568bb8114ec2db3">min_points_</a> = min;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a7467a0488bc6c091f498ae4f89636a60">  208</a></span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a7467a0488bc6c091f498ae4f89636a60">setNormalizeBins</a> (<span class="keywordtype">bool</span> normalize)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#afe6556b3b82cd9ab1045f045a91ee1ad">normalize_bins_</a> = normalize;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#af3263e05fc67057d005373ac2ad30ba5">compute</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a6c512b257d893db239e3db8d0816050b">  223</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a6c512b257d893db239e3db8d0816050b">vpx_</a>, vpy_, vpz_;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#acc124b844cb4933f2d4463618513c524">  228</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#acc124b844cb4933f2d4463618513c524">leaf_size_</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#afe6556b3b82cd9ab1045f045a91ee1ad">  231</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#afe6556b3b82cd9ab1045f045a91ee1ad">normalize_bins_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a425b9c4635aed9c81ea3f2587e86bea5">  234</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a425b9c4635aed9c81ea3f2587e86bea5">curv_threshold_</a>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a984c6cc370561bd0283ba9ad73410e08">  237</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a984c6cc370561bd0283ba9ad73410e08">cluster_tolerance_</a>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a362d434cc7f5292a9c7e8e10e687b516">  240</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a362d434cc7f5292a9c7e8e10e687b516">eps_angle_threshold_</a>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a4ba50da77c88610d6568bb8114ec2db3">  245</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a4ba50da77c88610d6568bb8114ec2db3">min_points_</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#abca1302b2e2ec55bc7618decfad39a02">  248</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#abca1302b2e2ec55bc7618decfad39a02">radius_normals_</a>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a253fa1afb8a592e7af807ddd99ec779e">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a07e011d11c58ff21b8dc99bff3416571">extractEuclideanClustersSmooth</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointNormal&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                                      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointNormal&gt;</a> &amp;normals, <span class="keywordtype">float</span> tolerance,</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                                      <span class="keyword">const</span> pcl::search::Search&lt;pcl::PointNormal&gt;::Ptr &amp;tree,</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                                      std::vector&lt;pcl::PointIndices&gt; &amp;clusters, <span class="keywordtype">double</span> eps_angle,</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_pts_per_cluster = 1,</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_pts_per_cluster = (std::numeric_limits&lt;int&gt;::max) ());</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a00fd32a2e6c4d8e292524b48c0cfea84">  283</a></span>&#160;      std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a00fd32a2e6c4d8e292524b48c0cfea84">centroids_dominant_orientations_</a>;</div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_v_f_h_estimation.html#a5128a5872d0f14bee983a0a34af1e39d">  285</a></span>&#160;      std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; <a class="code" href="classpcl_1_1_c_v_f_h_estimation.html#a5128a5872d0f14bee983a0a34af1e39d">dominant_normals_</a>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  };</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;}</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/cvfh.hpp&gt;</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FEATURES_CVFH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html">pcl::CVFHEstimation</a></div><div class="ttdoc">CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given poin...</div><div class="ttdef"><b>Definition:</b> cvfh.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a00fd32a2e6c4d8e292524b48c0cfea84"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a00fd32a2e6c4d8e292524b48c0cfea84">pcl::CVFHEstimation::centroids_dominant_orientations_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; centroids_dominant_orientations_</div><div class="ttdoc">Centroids that were used to compute different CVFH descriptors</div><div class="ttdef"><b>Definition:</b> cvfh.h:283</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a05d6d3755a79736c32ba79ae3fff1dd5"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a05d6d3755a79736c32ba79ae3fff1dd5">pcl::CVFHEstimation::setEPSAngleThreshold</a></div><div class="ttdeci">void setEPSAngleThreshold(float d)</div><div class="ttdoc">Sets max. deviation of the normals between two points so they can be clustered together</div><div class="ttdef"><b>Definition:</b> cvfh.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a07e011d11c58ff21b8dc99bff3416571"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a07e011d11c58ff21b8dc99bff3416571">pcl::CVFHEstimation::extractEuclideanClustersSmooth</a></div><div class="ttdeci">void extractEuclideanClustersSmooth(const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;cloud, const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;normals, float tolerance, const pcl::search::Search&lt; pcl::PointNormal &gt;::Ptr &amp;tree, std::vector&lt; pcl::PointIndices &gt; &amp;clusters, double eps_angle, unsigned int min_pts_per_cluster=1, unsigned int max_pts_per_cluster=(std::numeric_limits&lt; int &gt;::max)())</div><div class="ttdoc">Region growing method using Euclidean distances and neighbors normals to add points to a region.</div><div class="ttdef"><b>Definition:</b> cvfh.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a253fa1afb8a592e7af807ddd99ec779e"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a253fa1afb8a592e7af807ddd99ec779e">pcl::CVFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Clustered Viewpoint Feature Histograms (CVFH) descriptors at a set of points given by &lt;s...</div><div class="ttdef"><b>Definition:</b> cvfh.hpp:195</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a333f5bd9296d4c1243d010176c02b347"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a333f5bd9296d4c1243d010176c02b347">pcl::CVFHEstimation::setMinPoints</a></div><div class="ttdeci">void setMinPoints(size_t min)</div><div class="ttdoc">Set minimum amount of points for a cluster to be considered</div><div class="ttdef"><b>Definition:</b> cvfh.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a362d434cc7f5292a9c7e8e10e687b516"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a362d434cc7f5292a9c7e8e10e687b516">pcl::CVFHEstimation::eps_angle_threshold_</a></div><div class="ttdeci">float eps_angle_threshold_</div><div class="ttdoc">deviation of the normals between two points so they can be clustered together.</div><div class="ttdef"><b>Definition:</b> cvfh.h:240</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a425b9c4635aed9c81ea3f2587e86bea5"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a425b9c4635aed9c81ea3f2587e86bea5">pcl::CVFHEstimation::curv_threshold_</a></div><div class="ttdeci">float curv_threshold_</div><div class="ttdoc">Curvature threshold for removing normals.</div><div class="ttdef"><b>Definition:</b> cvfh.h:234</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a4ba50da77c88610d6568bb8114ec2db3"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a4ba50da77c88610d6568bb8114ec2db3">pcl::CVFHEstimation::min_points_</a></div><div class="ttdeci">size_t min_points_</div><div class="ttdoc">Minimum amount of points in a clustered region to be considered stable for CVFH computation.</div><div class="ttdef"><b>Definition:</b> cvfh.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a5128a5872d0f14bee983a0a34af1e39d"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a5128a5872d0f14bee983a0a34af1e39d">pcl::CVFHEstimation::dominant_normals_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; dominant_normals_</div><div class="ttdoc">Normal centroids that were used to compute different CVFH descriptors</div><div class="ttdef"><b>Definition:</b> cvfh.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a6c512b257d893db239e3db8d0816050b"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a6c512b257d893db239e3db8d0816050b">pcl::CVFHEstimation::vpx_</a></div><div class="ttdeci">float vpx_</div><div class="ttdoc">Values describing the viewpoint (&quot;pinhole&quot; camera model assumed). By default, the viewpoint is set to...</div><div class="ttdef"><b>Definition:</b> cvfh.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a6e63cce1a86f1a3384c32c830022280f"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a6e63cce1a86f1a3384c32c830022280f">pcl::CVFHEstimation::getCentroidNormalClusters</a></div><div class="ttdeci">void getCentroidNormalClusters(std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;centroids)</div><div class="ttdoc">Get the normal centroids used to compute different CVFH descriptors</div><div class="ttdef"><b>Definition:</b> cvfh.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a7467a0488bc6c091f498ae4f89636a60"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a7467a0488bc6c091f498ae4f89636a60">pcl::CVFHEstimation::setNormalizeBins</a></div><div class="ttdeci">void setNormalizeBins(bool normalize)</div><div class="ttdoc">Sets wether if the CVFH signatures should be normalized or not</div><div class="ttdef"><b>Definition:</b> cvfh.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a7abe8d84706f1689a54329118c87a727"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a7abe8d84706f1689a54329118c87a727">pcl::CVFHEstimation::setCurvatureThreshold</a></div><div class="ttdeci">void setCurvatureThreshold(float d)</div><div class="ttdoc">Sets curvature threshold for removing normals</div><div class="ttdef"><b>Definition:</b> cvfh.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a817d51fb519d869452f5be86aeba7231"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a817d51fb519d869452f5be86aeba7231">pcl::CVFHEstimation::setRadiusNormals</a></div><div class="ttdeci">void setRadiusNormals(float radius_normals)</div><div class="ttdoc">Set the radius used to compute normals</div><div class="ttdef"><b>Definition:</b> cvfh.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a8c3f91511cdb0adc804cef5951818cfb"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a8c3f91511cdb0adc804cef5951818cfb">pcl::CVFHEstimation::setViewPoint</a></div><div class="ttdeci">void setViewPoint(float vpx, float vpy, float vpz)</div><div class="ttdoc">Set the viewpoint.</div><div class="ttdef"><b>Definition:</b> cvfh.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_a984c6cc370561bd0283ba9ad73410e08"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#a984c6cc370561bd0283ba9ad73410e08">pcl::CVFHEstimation::cluster_tolerance_</a></div><div class="ttdeci">float cluster_tolerance_</div><div class="ttdoc">allowed Euclidean distance between points to be added to the cluster.</div><div class="ttdef"><b>Definition:</b> cvfh.h:237</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_aaadbb7d910ad8d7a8348b50946db1d05"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#aaadbb7d910ad8d7a8348b50946db1d05">pcl::CVFHEstimation::getCentroidClusters</a></div><div class="ttdeci">void getCentroidClusters(std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;centroids)</div><div class="ttdoc">Get the centroids used to compute different CVFH descriptors</div><div class="ttdef"><b>Definition:</b> cvfh.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_abca1302b2e2ec55bc7618decfad39a02"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#abca1302b2e2ec55bc7618decfad39a02">pcl::CVFHEstimation::radius_normals_</a></div><div class="ttdeci">float radius_normals_</div><div class="ttdoc">Radius for the normals computation.</div><div class="ttdef"><b>Definition:</b> cvfh.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_ac3af76d5e945d82d80336655dfce4f3e"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#ac3af76d5e945d82d80336655dfce4f3e">pcl::CVFHEstimation::setClusterTolerance</a></div><div class="ttdeci">void setClusterTolerance(float d)</div><div class="ttdoc">Sets max. Euclidean distance between points to be added to the cluster</div><div class="ttdef"><b>Definition:</b> cvfh.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_acc124b844cb4933f2d4463618513c524"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#acc124b844cb4933f2d4463618513c524">pcl::CVFHEstimation::leaf_size_</a></div><div class="ttdeci">float leaf_size_</div><div class="ttdoc">Size of the voxels after voxel gridding. IMPORTANT: Must match the voxel size of the training data or...</div><div class="ttdef"><b>Definition:</b> cvfh.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_ace0c386de1014734937e4e1e111cf6e6"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#ace0c386de1014734937e4e1e111cf6e6">pcl::CVFHEstimation::getViewPoint</a></div><div class="ttdeci">void getViewPoint(float &amp;vpx, float &amp;vpy, float &amp;vpz)</div><div class="ttdoc">Get the viewpoint.</div><div class="ttdef"><b>Definition:</b> cvfh.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_ad0b9db574d2322790e78ca65ba616d9f"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#ad0b9db574d2322790e78ca65ba616d9f">pcl::CVFHEstimation::CVFHEstimation</a></div><div class="ttdeci">CVFHEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> cvfh.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_adcb190964bcb8ee94db3bae2e9ed79a4"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#adcb190964bcb8ee94db3bae2e9ed79a4">pcl::CVFHEstimation::filterNormalsWithHighCurvature</a></div><div class="ttdeci">void filterNormalsWithHighCurvature(const pcl::PointCloud&lt; PointNT &gt; &amp;cloud, std::vector&lt; int &gt; &amp;indices_to_use, std::vector&lt; int &gt; &amp;indices_out, std::vector&lt; int &gt; &amp;indices_in, float threshold)</div><div class="ttdoc">Removes normals with high curvature caused by real edges or noisy data</div><div class="ttdef"><b>Definition:</b> cvfh.hpp:162</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_af3263e05fc67057d005373ac2ad30ba5"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#af3263e05fc67057d005373ac2ad30ba5">pcl::CVFHEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> cvfh.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_c_v_f_h_estimation_html_afe6556b3b82cd9ab1045f045a91ee1ad"><div class="ttname"><a href="classpcl_1_1_c_v_f_h_estimation.html#afe6556b3b82cd9ab1045f045a91ee1ad">pcl::CVFHEstimation::normalize_bins_</a></div><div class="ttdeci">bool normalize_bins_</div><div class="ttdoc">Wether to normalize the signatures or not. Default: false.</div><div class="ttdef"><b>Definition:</b> cvfh.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a3f68793061ef0973bdacfea56cf5ae21"><div class="ttname"><a href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">pcl::Feature::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html">pcl::VFHEstimation</a></div><div class="ttdoc">VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud data...</div><div class="ttdef"><b>Definition:</b> vfh.h:72</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
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